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Method and device for constructing high-precision map

A construction method and map technology, applied in directions such as road network navigators, can solve the problems of inaccurate pavement elements and low accuracy of high-precision maps, and achieve the effect of improving accuracy and saving costs.

Active Publication Date: 2021-01-12
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The use of lidar to collect road elements requires that the road elements have good reflection ability. When the reflection ability of road elements is insufficient, the road elements collected by lidar will not be accurate enough, resulting in the road surface collected by lidar. The accuracy of the high-precision map constructed by the elements is not high

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  • Method and device for constructing high-precision map
  • Method and device for constructing high-precision map
  • Method and device for constructing high-precision map

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Embodiment Construction

[0038] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0039] Application overview

[0040] Accurate road surface element information in high-precision maps is the basic condition for realizing automatic driving. At present, lidar is often used to collect road surface elements, and high-precision maps are constructed based on the reflection value of road surface elements to laser light. When the elements are collected, there are reflective requirements for the road elements. When the reflection ability of the road elements is insufficient, the accuracy of the road elements collected by the lidar is not high, wh...

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Abstract

The invention discloses a method and device for constructing a high-precision map, a computer readable storage medium and electronic equipment. The method comprises the steps of determining a first inverse perspective transformation image of at least one frame of image; determining a first pavement map according to the first inverse perspective transformation image; according to the first inverseperspective transformation image, obtaining a first road surface parameter corresponding to a road surface element in the image; acquiring a second pavement parameter and a second camera pose according to the first pavement parameter and the first camera pose; and constructing the high-precision map according to the first pavement map, the second pavement parameter and the second camera pose. Theroad surface elements are collected through the visual sensor, and the high-precision map is constructed by optimizing the road surface parameters and optimizing the camera pose, so that the accuracyof the high-precision map can be effectively improved.

Description

technical field [0001] The present application relates to the technical field of electronic maps, and more specifically, to a method and device for constructing high-definition maps. Background technique [0002] High-precision maps play an important role in the positioning and planning of autonomous driving. The collection of road surface elements is crucial during the construction of high-precision maps. elements are collected. [0003] The use of lidar to collect road elements requires that the road elements have good reflection ability. When the reflection ability of road elements is insufficient, the road elements collected by lidar will not be accurate enough, resulting in the road surface collected by lidar. The accuracy of high-precision maps constructed by elements is not high. Contents of the invention [0004] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present application provide a high-pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 常皓杨德刚
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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